Algorithm Research & Explore
|
349-355

Visual inertial SLAM algorithm fusing point and line feature

Fu Yua
Zheng Shuanga
Bie Tonga,b
Zhu Xiaoqinga,b
Wang Quanmina
a. Faculty of Information Technology, b. Beijing Key Laboratory of Computational Intelligence & Intelligent System, Beijing University of Technology, Beijing 100124, China

Abstract

To solve the problems of difficult initialization and low positioning accuracy of SLAM algorithm caused by sparse feature points and fast camera movement in practical application scenes, this paper proposed a visual-inertial SLAM algorithm. It used EDLines feature extraction and matching algorithm to introduce rich line features to improve the robustness of feature tracking. Using the complementary advantages of the inertial sensor and the visual sensor, it carried out the optimization in three steps in the initial stage through the visual-inertial initialization by steps method, so as to improve the accuracy and speed of the initialization. Experiments show that the line feature extraction and matching algorithm used in this algorithm provides faster matching speed and lower mismatching rate than the traditional LSD algorithm. Moreover, the proposed algorithm has higher accuracy and stronger robustness in the estimation of camera pose in the visual-inertial data set.

Foundation Support

国家自然科学基金资助项目(61773027)
北京市自然科学基金资助项目(4202005,4202004)
北京市教育委员会科技计划一般项目(KM201810005028)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.07.0270
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 2
Section: Algorithm Research & Explore
Pages: 349-355
Serial Number: 1001-3695(2022)02-004-0349-07

Publish History

[2021-09-24] Accepted Paper
[2022-02-05] Printed Article

Cite This Article

付煜, 郑爽, 别桐, 等. 融合点线特征的视觉惯性SLAM算法 [J]. 计算机应用研究, 2022, 39 (2): 349-355. (Fu Yu, Zheng Shuang, Bie Tong, et al. Visual inertial SLAM algorithm fusing point and line feature [J]. Application Research of Computers, 2022, 39 (2): 349-355. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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